version: 66.04
glider: 5
mission: 7
dive: 81
start: 9 10 109 21 9 44
data:
$ID,5
$MISSION,7
$DIVE,81
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-101797.7
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2831
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.674383
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,9
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,210330,6206.913,-1016.295,42,1.3,42,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-54.8
$GPS2,210855,6206.954,-1016.292,16,1.4,16,-10.1
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.157,0.189
$KALMAN_X,-77113.1,848.8,-931.0,-7707.0,5880.7
$KALMAN_Y,33160.2,1098.9,-59.3,22005.2,-6470.4
$MHEAD_RNG_PITCHd_Wd,330.3,21962,-14.8,-8.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.22,-146.6,0.0,0.0,0,81,0.00,0.00,-61.40,0.000,2,0.000,0.000,419,2153,2510
$GC,84,-1.22,-146.6,2.2,-1.9,3,137,11.35,2.62,-34.92,0.000,4,0.163,0.071,2471,705,3428
$GC,226,-1.15,-146.6,16.1,-9.9,9,234,0.10,2.50,0.00,0.000,6,0.109,0.045,2490,2123,3429
$GC,545,-1.10,-146.6,42.2,-6.0,25,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2124,3429
$GC,853,-1.03,-146.6,58.2,-3.8,40,855,0.12,0.00,0.00,0.000,6,0.095,0.000,2518,2124,3429
$GC,1162,-1.03,-146.6,63.8,-2.1,55,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2124,3431
$GC,1471,-1.03,-146.6,71.2,-3.0,70,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2124,3431
$GC,1780,-1.03,-146.6,81.2,-3.8,85,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2124,3431
$GC,2091,-1.03,-146.6,95.7,-5.5,100,2095,0.00,2.55,0.00,0.000,4,0.000,0.061,2518,718,3431
$GC,2114,-1.03,-146.6,97.2,-5.9,101,2119,0.00,2.50,0.00,0.000,6,0.000,0.048,2518,2132,3432
$GC,2437,-1.03,-146.6,119.7,-7.8,117,2445,0.00,2.58,0.00,0.000,4,0.000,0.061,2519,709,3431
$GC,2486,-1.09,-146.6,123.7,-8.0,119,2490,0.00,2.50,0.00,0.000,6,0.000,0.048,2518,2126,3432
$GC,2813,-1.09,-146.6,151.6,-9.1,135,2817,0.00,2.58,0.00,0.000,4,0.000,0.063,2519,707,3431
$GC,2853,-1.14,-146.6,155.4,-10.1,137,2857,0.00,2.50,0.00,0.000,6,0.000,0.049,2519,2120,3432
$GC,3180,-1.14,-146.6,185.8,-9.2,153,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2120,3432
$GC,3489,-1.14,-146.6,215.0,-9.3,168,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2120,3431
$GC,3798,-1.14,-146.6,243.4,-9.0,183,3802,0.00,2.55,0.00,0.000,4,0.000,0.063,2518,715,3431
$GC,3860,-1.19,-146.6,249.1,-8.7,185,3867,0.15,2.47,0.00,0.000,6,0.053,0.049,2477,2117,3431
$GC,4177,-1.14,-146.6,282.6,-10.7,201,4182,0.00,2.55,0.00,0.000,4,0.000,0.063,2477,712,3431
$GC,4212,-1.10,-146.6,286.6,-10.8,202,4218,0.15,2.47,0.00,0.000,6,0.092,0.049,2508,2110,3431
$GC,4527,-1.10,-146.6,315.5,-9.0,218,4532,0.00,2.55,0.00,0.000,4,0.000,0.064,2509,705,3430
$GC,4550,-1.10,-146.6,317.7,-9.2,219,4554,0.00,2.47,0.00,0.000,6,0.000,0.049,2508,2104,3430
$GC,4873,-1.10,-146.6,346.4,-8.9,235,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2104,3430
$GC,5180,-1.10,-146.6,373.8,-8.9,250,5184,0.00,2.53,0.00,0.000,4,0.000,0.066,2508,718,3429
$GC,5213,-1.13,-146.6,376.9,-9.4,251,5219,0.00,2.42,0.00,0.000,6,0.000,0.051,2508,2086,3429
$GC,5529,-1.13,-146.6,405.1,-8.9,267,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2086,3429
$GC,5838,-1.13,-146.6,432.7,-9.1,282,5843,0.00,2.50,0.00,0.000,4,0.000,0.064,2508,711,3429
$GC,5872,-1.17,-146.6,435.8,-9.4,283,5878,0.00,2.45,0.00,0.000,6,0.000,0.051,2508,2094,3429
$GC,6188,-1.17,-146.6,464.4,-9.0,299,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2093,3429
$GC,6497,-1.17,-146.6,492.3,-8.7,314,6502,0.00,2.50,0.00,0.000,4,0.000,0.064,2508,718,3429
$GC,6538,-1.21,-146.6,495.8,-9.1,316,6543,0.12,2.42,0.00,0.000,6,0.058,0.051,2471,2082,3428
$GC,6865,-1.16,-146.6,528.6,-10.2,332,6867,0.10,0.00,0.00,0.000,6,0.096,0.000,2491,2082,3428
$GC,7174,-1.16,-146.6,557.7,-9.8,347,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2082,3428
$GC,7484,-1.16,-146.6,588.0,-9.8,362,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2082,3428
$GC,7793,-1.16,-146.6,619.5,-10.2,377,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2082,3427
$GC,8102,-1.16,-146.6,652.5,-10.6,392,8104,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2082,3427
$GC,8411,-1.16,-146.6,686.0,-10.6,407,8415,0.00,2.50,0.00,0.000,4,0.000,0.068,2491,712,3427
$GC,8529,-1.16,-146.6,697.3,-8.9,412,8533,0.00,2.42,0.00,0.000,6,0.000,0.051,2491,2079,3427
$GC,8851,-1.16,-146.6,722.8,-7.9,428,8855,0.00,2.67,0.00,0.000,4,0.000,0.076,2491,3537,3427
$GC,8935,-1.16,-146.6,729.7,-7.8,432,8940,0.00,2.62,0.00,0.000,6,0.000,0.060,2491,2084,3427
$GC,9262,-1.16,-146.6,755.4,-9.0,448,9267,0.00,2.70,0.00,0.000,4,0.000,0.076,2491,3538,3427
$GC,9295,-1.16,-146.6,758.6,-9.9,449,9301,0.00,2.62,0.00,0.000,6,0.000,0.061,2491,2091,3426
$GC,9611,-1.16,-146.6,786.6,-8.8,465,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2077,3426
$GC,9920,-1.16,-146.6,814.9,-9.2,480,9925,0.00,2.72,0.00,0.000,4,0.000,0.079,2491,3538,3425
$GC,9983,-1.16,-146.6,821.2,-9.9,483,9987,0.00,2.62,0.00,0.000,6,0.000,0.065,2491,2105,3425
$STATE,10121,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10121,begin apogee
$GC,10128,-0.33,0.0,834.0,9.2,490,10264,0.82,0.00,130.68,1.394,6,0.077,0.000,2670,1849,2831
$STATE,10265,end apogee,CONTROL_FINISHED_OK
$STATE,10265,begin climb
$GC,10268,1.22,146.6,838.5,0.0,497,10413,1.55,2.75,132.12,1.355,4,0.064,0.084,3007,446,2233
$GC,10489,1.06,146.6,826.7,8.4,507,10494,0.17,2.58,0.00,0.000,6,0.094,0.059,2976,1850,2233
$GC,10810,1.13,192.1,806.4,6.3,523,10858,0.00,2.67,41.67,1.316,4,0.000,0.074,2976,3261,2047
$GC,10950,1.13,192.1,795.7,8.1,529,10954,0.00,2.62,0.00,0.000,6,0.000,0.071,2976,1867,2046
$GC,11266,1.15,206.9,772.2,7.5,544,11288,0.00,2.75,14.48,1.246,4,0.000,0.084,2976,435,1987
$GC,11334,1.11,206.9,765.6,10.7,547,11339,0.00,2.62,0.00,0.000,6,0.000,0.060,2976,1868,1987
$GC,11662,1.11,206.9,731.5,9.7,563,11663,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1885,1986
$GC,11971,1.11,206.9,699.4,9.4,578,11972,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1885,1985
$GC,12280,1.11,211.4,672.7,7.8,593,12287,0.00,0.00,5.12,0.964,6,0.000,0.000,2976,1885,1969
$GC,12590,1.20,268.2,653.1,5.9,608,12647,0.15,2.78,50.28,1.283,4,0.055,0.077,3013,439,1737
$GC,12738,1.13,268.2,640.4,8.6,614,12743,0.12,2.55,0.00,0.000,6,0.094,0.054,2991,1851,1737
$GC,13065,1.19,304.8,618.8,6.7,630,13104,0.00,0.00,33.40,1.227,6,0.000,0.000,2991,1865,1587
$GC,13414,1.19,304.8,591.4,8.5,647,13415,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1865,1587
$GC,13723,1.19,304.8,562.2,9.9,662,13725,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1865,1588
$GC,14033,1.19,304.8,529.7,10.6,677,14034,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1865,1589
$GC,14342,1.19,304.8,497.9,9.9,692,14343,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1865,1589
$GC,14651,1.19,304.8,468.6,9.1,707,14656,0.00,2.60,0.00,0.000,4,0.000,0.070,2991,439,1589
$GC,14692,1.19,304.8,464.8,9.5,709,14696,0.00,2.47,0.00,0.000,6,0.000,0.050,2991,1842,1589
$GC,15019,1.24,315.7,438.2,7.6,725,15035,0.10,2.58,11.00,1.004,4,0.058,0.061,3020,3262,1544
$GC,15064,1.24,315.7,434.1,8.5,726,15068,0.00,2.62,0.00,0.000,6,0.000,0.057,3020,1827,1544
$GC,15385,1.24,315.7,405.2,8.9,742,15386,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1827,1544
$GC,15694,1.24,315.7,378.7,8.5,757,15698,0.00,2.62,0.00,0.000,4,0.000,0.061,3020,3264,1544
$GC,15726,1.24,315.7,375.7,8.8,758,15732,0.00,2.58,0.00,0.000,6,0.000,0.056,3021,1840,1544
$GC,16043,1.24,315.7,348.7,8.8,774,16044,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1840,1544
$GC,16351,1.24,315.7,320.3,9.4,789,16356,0.00,2.58,0.00,0.000,4,0.000,0.061,3021,3255,1545
$GC,16392,1.24,315.7,316.5,9.3,791,16396,0.00,2.53,0.00,0.000,6,0.000,0.054,3020,1850,1545
$GC,16719,1.24,315.7,284.5,10.0,807,16720,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1850,1545
$GC,17028,1.24,315.7,251.4,11.1,822,17032,0.00,2.55,0.00,0.000,4,0.000,0.061,3021,3256,1546
$GC,17068,1.27,315.7,246.9,11.0,824,17072,0.00,2.53,0.00,0.000,6,0.000,0.054,3020,1850,1545
$GC,17395,1.27,315.7,210.9,11.1,840,17396,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1850,1546
$GC,17704,1.27,315.7,177.6,10.6,855,17708,0.00,2.53,0.00,0.000,4,0.000,0.060,3021,3255,1546
$GC,17737,1.27,315.7,173.9,10.4,856,17741,0.00,2.47,0.00,0.000,6,0.000,0.053,3020,1861,1546
$GC,18054,1.27,315.7,140.8,10.7,871,18055,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1861,1547
$GC,18362,1.27,315.7,106.5,11.1,886,18364,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1861,1546
$GC,18673,1.27,315.7,73.8,10.5,901,18674,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1861,1547
$GC,18981,1.27,315.7,41.2,9.9,916,18986,0.00,2.53,0.00,0.000,4,0.000,0.059,3021,3258,1547
$GC,19094,1.33,315.7,29.8,10.0,921,19098,0.00,2.47,0.00,0.000,6,0.000,0.049,3021,1861,1547
$STATE,19393,end climb,SURFACE_DEPTH_REACHED
$STATE,19393,begin surface coast
$FINISH,0.8,1.016391
$STATE,19413,end surface coast,CONTROL_FINISHED_OK
$STATE,19414,begin surface
$SM_CCo,19497,0.00,0.000,0,0,1547,314.97
$SM_GC,1.74,11.23,0.00,0.00,0.036,0.000,0.000,418,2160,1547,-10.60,0.85,314.97
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1834
$TCM_TEMP,17.60
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,795.9,48.0
$24V_AH,23.8,16.112
$10V_AH,10.1,7.181
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.250,129.025,418.750,0.000,0.000,37.762,31.303,135.896,17.500,0.000,0.000,16.803,1675.718,15126.021,546.126,1949.758,522.641,33.351,1524.405,0.000,1906.476,0.000,49.289,0.000
$DEVICE_MAMPS,162.604,83.603,1394.406,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,642.059,698.746,605.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47406,937
$CAP_FILE_SIZE,133138,0
$CFSIZE,254472192,247382016
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110909,023600,6210.504,-1017.734,42,1.0,42,-10.2